Thomas Ashworth / theRobot

For IEEE Robotics

Dependencies:   Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos

Diff: main.cpp

Revision:
18:a0ea7ecaf4fe
Parent:
17:a5bb85ee205d
Child:
19:d4d967a885dc
--- a/main.cpp	Thu Apr 03 22:05:57 2014 +0000
+++ b/main.cpp	Thu Apr 03 22:41:24 2014 +0000
@@ -539,7 +539,7 @@
                 case AQUIRE_TOOL1:
 
                     servoPosition(PU_TOOL_1);
-                    setServoPulse(4, 130);
+                    setServoPulse(4, 175);
                     wait(5);
                     setServoPulse(0, Arm_Table[PU_TOOL_1].base_rotate );
                     wait(1);
@@ -635,7 +635,7 @@
                         }
 
                     */
-                    for(int i = 0; i < 4; i++) {
+                    for(int i = 0; i < 6; i++) {
                         shape_detected = shapeDetection();
                         wait(2);
                         if (get_com_x() > X_CENTER) {
@@ -648,7 +648,7 @@
                         }
                     }
 
-                    setServoPulse(4, 130);
+                    setServoPulse(4, 175);
                     wait(5);
                     setServoPulse(0, Arm_Table[PU_TOOL_3].base_rotate );
                     wait(1);